CN109220201B - Famous and excellent tea picking and collecting device - Google Patents
Famous and excellent tea picking and collecting device Download PDFInfo
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- CN109220201B CN109220201B CN201811453756.6A CN201811453756A CN109220201B CN 109220201 B CN109220201 B CN 109220201B CN 201811453756 A CN201811453756 A CN 201811453756A CN 109220201 B CN109220201 B CN 109220201B
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- 241001122767 Theaceae Species 0.000 title claims abstract description 68
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- 238000010248 power generation Methods 0.000 description 3
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- 238000007664 blowing Methods 0.000 description 2
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/04—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs of tea
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Abstract
The utility model provides a famous and excellent tea is picked album leaf device, relates to a tea-picking machinery including picking the device and rather than fixed connection's album leaf device, its characterized in that: the picking device consists of a picking head and a picking arm fixedly connected with the picking head; the picking head is provided with 1 base body, more than 2 steel wheels with grooves and a high-speed motor for driving the steel wheels to operate, annular steel wire ropes are arranged between the adjacent steel wheels, and the steel wheels are driven by the high-speed motor to operate so as to drive the annular steel wire ropes to move at a high speed to cut buds. The picking head designed by the invention has the advantages of small volume, good flexibility, quick positioning and high picking efficiency, replaces the original blade to cut back and forth in a single-line cutting picking mode, reduces the damage of bud leaves, and ensures that the picked bud leaves are quickly sucked into a leaf collecting box, thereby ensuring that the quality of fresh tea leaves is better.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a tea-picking machine.
Background
Tea is one of important economic crops in China, and the cost of picking work fees and the like is continuously high in recent years. Because tea cannot be picked in time, not only is the benefit of a tea enterprise poor, but also the tea enterprises are led to have no return on tea garden management in the year, and the production cost of the tea is further increased, the increase of labor cost becomes an important bottleneck for restricting the tea industry from going up to the step again, and the important influence is exerted on the whole tea industry.
The tea benefit in China mainly comes from famous tea and high-quality tea. The famous tea is tea with better quality prepared from one bud and one leaf or two buds and two leaves serving as raw materials. Because the famous tea picking standard is too tender, picking and separating the picked fresh tea leaves according to the standard size is very difficult according to the current non-selective mechanical picking mode.
Because the current general tea plucker is a blade reciprocating tea plucker, the plucker can only pluck all buds and leaves above the knife edge along a certain height of the crown surface when plucking, but can not distinguish that the plucked buds and leaves are single buds, one bud and one leaf, one bud and two leaves, even one bud and three and four leaves or old leaves, but all are mixed together, thereby leading to the size mixing of famous tea raw materials, even leading to the coarse and old taste of tea finished products because old leaves and stems are mixed in, and obviously reducing the quality and price of famous tea. Currently, tea pluckers are also being continuously improved by industry personnel to enable them to accommodate the picking of raw materials for famous tea. But these improvements have focused largely on the following three aspects: 1) The length of the blade is changed, for example, a long blade is changed into a short blade, so that the flexibility is improved; 2) The height adjustment of the knife edge is changed to be lifted as much as possible so as to avoid taking mature leaves into the knife edge as much as possible; 3) The gasoline engine is changed into lithium battery drive to reduce the weight of the picking machine and improve the maneuverability of the picking machine. However, all three aspects are based on the principle of back and forth picking by blades, and the problem of no selectivity is still solved. At present, although more researches are carried out in the aspect of camera identification, the efficiency is lower in the aspect of correct identification because the consistency of the colors of the tea shoots is better and the contrast of the colors is smaller. At the same time, even if the three-dimensional positioning of the picking hand is recognized, the three-dimensional positioning of the picking hand is difficult and slow, and a long path is needed to be taken away from actual production and application.
Disclosure of Invention
In order to overcome the technical problems in the background technology, the invention aims to provide a flexible and mobile famous tea picking and collecting device taking intelligent recognition, fine line cutting and wind suction collecting as cores, which can truly achieve intelligent, quick and high-quality picking effects and obtain high-quality materials required by famous tea.
The invention is realized by the following technical scheme:
the utility model provides a famous and excellent tea is picked album leaf device, including picking the device and rather than fixed connection's album leaf device, its characterized in that: the picking device consists of a picking head and a picking arm fixedly connected with the picking head; the picking head is provided with 1 base body, more than 2 steel wheels with grooves and a high-speed motor for driving the steel wheels to operate, annular steel wire ropes are arranged between the adjacent steel wheels, and the steel wheels are driven by the high-speed motor to operate so as to drive the annular steel wire ropes to move at a high speed to cut buds.
The famous and excellent tea picking and collecting device is characterized in that: the base body is dustpan-shaped and comprises a rectangular bottom plate, left and right side plates, a rear back plate and an upper cover plate; the middle part of the upper cover plate is provided with a wind collecting cover, and the top of the wind collecting cover is fixedly connected with the leaf collecting device; the front end of the bottom plate is provided with a left steel wheel shaft and a right steel wheel shaft which penetrate through the bottom plate, and the upper end and the lower end of the steel wheel shaft are respectively provided with a fixing strip for fixing the steel wheel shafts on the base body; two steel wheel shafts above the bottom plate are respectively matched with steel wheels with grooves, one steel wheel shaft is provided with a high-speed motor for driving the steel wheels to rotate, annular steel wire ropes are arranged in the grooves of the two steel wheels in a matched mode, and fixing piles for connecting picking arms are further arranged on the base body.
The famous and excellent tea picking and collecting device is characterized in that: the utility model discloses a leaf collecting air duct, including base body, back plate, upper cover plate, leaf collecting baffle, back plate, base body's cavity is equipped with the leaf collecting baffle in, leaf collecting baffle's left and right side respectively with base body's left and right curb plate fixed connection, front end and bottom plate front portion fixed connection, back end and back plate's top fixed connection realizes forming a leaf collecting air duct between leaf collecting baffle and upper cover plate.
The famous and excellent tea picking and collecting device is characterized in that: the two blade collecting baffles are arranged and comprise a front baffle plate positioned between the two steel wheels and a rear baffle plate connected with the front baffle plate through male and female buckles; the front part and the steel wire rope in the front of the steel wheel are positioned at the outer side of the base body, and the rear part and the steel wire rope in the rear of the steel wheel are positioned at the inner side of the base body.
The famous and excellent tea picking and collecting device is characterized in that: the base body is in a regular triangle shape, three corners of the base body are respectively provided with a steel wheel with a groove connected through a steel wheel shaft, and an annular steel wire rope is arranged in the groove of the steel wheel in a matching manner; a high-speed motor for driving the steel wheels to rotate is arranged on the steel wheel shaft positioned at the vertex of the regular triangle base body, and the annular steel wire rope drives the two steel wheels on the bottom edge of the regular triangle base body to rotate; the lower part and the upper part of the base body are respectively provided with a triaxial fixing strip for fixing the steel wheel shaft; the base body is also provided with a fixed pile for connecting the picking arm; and triaxial fixing strips for fixing the steel wheel shafts are arranged below and above the base body.
The famous and excellent tea picking and collecting device is characterized in that: the base body is equipped with the draw-in groove with one of them steel wheel axle junction, and the cooperation sets up the hasp that is used for locking the steel wheel axle on the draw-in groove, removes at the draw-in groove both ends through the steel wheel axle and realizes annular wire rope's loading and unloading.
The famous and excellent tea picking and collecting device is characterized in that: the picking head is provided with a positioning and height identifying camera.
The famous and excellent tea picking and collecting device is characterized in that: the leaf collecting device mainly comprises a telescopic collection She Fengguan, a vortex fan, a collection air pipe and a leaf collecting box, wherein the vortex fan is arranged on the pipe wall of the telescopic collection She Fengguan, and an exhaust net is arranged at the position of the collection She Fengguan close to the collection air pipe; the cut buds pass through the telescopic leaf collecting air pipe and the collecting air pipe in sequence and finally fall into the leaf collecting box.
The famous and excellent tea picking and collecting device is characterized in that: the picking arm is a telescopic arm, and a bidirectional motor and a stepping motor which can realize left and right rotation and up and down movement of the telescopic arm are arranged on the picking arm.
The famous and excellent tea picking and collecting device is characterized in that: the diameter of the section of the annular steel wire rope is 0.3mm.
The famous and excellent tea picking and collecting device mainly aims at the technical defects that the current famous and excellent tea picking is lack of manpower, but the current round-trip tea picking machine cannot really solve the problem of mechanized picking of famous and excellent tea, and the invention provides flexible and mobile picking mechanical equipment and picking mode which take 'intelligent identification + fine line cutting + wind suction collecting leaves' as cores, so that the technical defects that the bud tip length cannot be controlled, the bud tip base is torn by the cutting position and becomes red and the like caused by the fact that the current general blade round-trip tea picking machine cannot be selectively are overcome. The invention realizes the primordial ecology of the buds and leaves in the mechanized picking of famous tea, the selectable sizes of the buds and leaves, the intelligentization of the picking process and the high efficiency of the picking speed, and has the following advantages that: (1) The original blade is replaced by a single-wire cutting and picking mode to cut back and forth, so that the damage of buds and leaves is reduced. The annular steel wire rope is adopted to replace the traditional blade, and the steel wire rope rotates around the high speed under the drive of the high-speed motor to form cutting force, so that the linear cutting has the problem that the base of part of bud tips of the traditional blade is torn to turn red by the cutting position, and therefore, the loss of picked buds She Sunshang is smaller than that of the blade cutting, and the quality of fresh tea leaves is better; (2) The negative wind pressure collecting blade is formed by the vortex fan to replace the blowing collecting blade of the traditional tea-leaf picker, the picked buds can be quickly sucked into the collecting blade box, the impact and friction between picking bud tips are further reduced, meanwhile, the wind can be quickly blown out from the exhaust net positioned at the rear part of the collecting She Fengguan pipeline, so that the picking buds cannot be continuously blown by the wind, and the freshness of picking raw materials is better; (3) The picking head has the advantages of small volume, good flexibility, high mobility, quick positioning, high picking efficiency and obvious advantages of uniformity and uniformity of bud tips.
Drawings
FIG. 1 is a schematic top view of a square picking head of the present invention;
FIG. 2 is a schematic view of the bottom structure of a square picking head of the present invention;
FIG. 3 is a schematic view of the structure of FIG. 1 with the hood and upper cover removed;
FIG. 4 is a schematic view of the structure of FIG. 3 with the leaf-collecting baffle removed;
FIG. 5 is a schematic side elevational view of a square picking head of the present invention;
FIG. 6 is a schematic side cross-sectional view of a square picking head of the present invention;
FIG. 7 is a schematic top view of a triangular picking head of the present invention;
FIG. 8 is a schematic view of the bottom structure of a triangular picking head of the present invention;
FIG. 9 is a schematic side elevational view of a triangular picking head of the present invention;
FIG. 10 is a schematic view of a leaf picking and collecting device applied to an intelligent tea picking machine;
FIG. 11 is a schematic view of a leaf picking and collecting device of the present invention applied to a semi-mechanized tea plucking machine;
FIG. 12 is a schematic illustration of the relationship between the positions of the triangular picking heads and the telescopic leaf collecting air pipes in the leaf collecting device;
FIG. 13 is a schematic view of the relationship between the positions of the square picking heads and the telescopic leaf collecting air pipes in the leaf collecting device;
in the figure: 1-picking heads; 1-1-a base body; 1-1-1-bottom plate, 1-1-2-side plates, 1-1-3-back plate; 1-1-4-upper cover plate; 1-2-steel wheels; 1-3-annular steel wire rope; 1-4-high speed motor; 1-5-steel wheel shafts; 1-6-fixing strips; 1-7 parts of a wind collecting hood; 1-8-cameras; 1-9-leaf collecting baffle plates; 1-9-1-front baffle; 1-9-2-rear baffle; 1-10-fixing piles; 1-11-triaxial fixing strips; 2-1-scalable set She Fengguan; 2-2-vortex fan; 2-3-collecting air pipes; 2-4 of an exhaust net; 2-5-leaf collecting box; 3-1-migration system; 3-1-1-driving wheel; 3-1-2-caterpillar tracks; 3-1-3-supporting frames; 3-1-4-carrying platform; 3-1-5-wire control operators; 3-2-balancing means; 3-3-bearing platform; 3-4-power generation device; 3-5 storage battery units; 3-6-an image information processing and picking control system; 3-7 of lifting rods; 4-picking arms; 4-1-bi-directional motor; 4-2-stepper motor; 4S-operating handle.
Detailed Description
The invention is described in further detail below with reference to fig. 1-13.
The invention designs a famous and excellent tea picking and collecting device (shown in figures 1-13), which comprises a picking device and a collecting device fixedly connected with the picking device, and is characterized in that: the picking device consists of a picking head 1 and a picking arm 4 fixedly connected with the picking head; the picking head 1 is provided with 1 base body, more than 2 steel wheels 1-2 with grooves and a high-speed motor 1-4 for driving the steel wheels to operate, annular steel wire ropes 1-3 are arranged between adjacent steel wheels, and the annular steel wire ropes are driven to operate by the high-speed motor so as to drive the annular steel wire ropes to move at a high speed to cut buds of tea leaves. The end of the picking arm 4 is provided with an operating handle 4S, in this case a semi-mechanized tea plucking machine (see figure 11). The device can also be applied to an intelligent tea-leaf picker (see figure 10), and when the device is connected with the intelligent tea-leaf picker, the picking arm is preferably designed to be a telescopic picking arm, and a bidirectional motor 4-1 and a forward-backward telescopic stepping motor 4-2 for realizing left-right rotation and up-down movement of the telescopic arm are arranged on the picking arm.
The picking heads designed by the invention can have various designs, such as triangles, squares, pentagons and the like, and the structures of the square and triangle picking heads are described in further detail below.
Square picking head (see fig. 1-6): comprises a base body 1-1 with a dustpan shape, wherein each base body 1-1 comprises a rectangular bottom plate 1-1, a left side plate 1-1-2, a right side plate 1-1, a rear back plate 1-1-3 and an upper cover plate 1-1-4; the middle part of the upper cover plate is provided with a cavity, the inner side of the upper cover plate is in sealing connection with the wind collecting hoods 1-7, and the top of the wind collecting hood is fixedly connected with the leaf collecting device (see figure 13); the front end of the bottom plate 1-1-1 is provided with a left steel wheel shaft 1-5 and a right steel wheel shaft penetrating through the bottom plate, the upper end and the lower end of the steel wheel shaft are respectively provided with a fixing strip 1-6 for fixing the steel wheel shaft on the base body, namely, each steel wheel shaft is provided with 2 fixing strips; two steel wheel shafts above the bottom plate are respectively provided with steel wheels 1-2 with grooves in a matching way, the diameter of each steel wheel is preferably 2cm, and grooves with the depth of 1mm are formed in the outer diameter of each steel wheel; the steel wheel shafts are also provided with high-speed motors 1-4 for driving the steel wheels to rotate, annular steel wire ropes 1-3 are arranged in grooves of the two steel wheels in a matched mode, the steel wheels are driven by the high-speed motors to operate, so that the annular steel wire ropes are driven to move at high speed to realize that bud tips are cut in a linear cutting mode, the cross sections of the annular steel wire ropes 1-3 are circular, the optimal diameter is 0.3mm, and the steel wire ropes are made of high-toughness metal materials; the front end of the upper cover plate is provided with cameras 1-8 for bud positioning and height identification; the number of cameras 1-8 can be 1 or 2, when the number of cameras is 1, the cameras are preferably arranged at the middle point of the front end of the upper cover plate, and when the number of cameras is 2, the cameras are preferably arranged at two sides of the middle point of the front end of the upper cover plate and are symmetrically distributed; the base body 1-1 is also provided with fixing piles 1-10 for connecting picking arms, and in order to obtain a more stable fixing effect, the number of fixing piles is preferably 2. Preferably, a leaf collecting baffle 1-9 is arranged in the cavity of the base body, the left side and the right side of the leaf collecting baffle are respectively and fixedly connected with the left side plate and the right side plate of the base body, the front end of the leaf collecting baffle is fixedly connected with the front part of the bottom plate (the front part of the bottom plate is preferably 1-2cm, see figure 3), the rear end of the leaf collecting baffle is fixedly connected with the top of the rear back plate, and a leaf collecting air channel is formed between the leaf collecting baffle and the upper cover plate 1-1-4. The two leaf collecting baffles 1-9 are preferably arranged, and comprise a front baffle 1-9-1 positioned between two steel wheels and a rear baffle 1-9-2 connected with the front baffle through male and female buckles; the front and front steel wire ropes of the steel wheel are positioned outside the base body (namely above the leaf collecting baffle plate), and the rear and rear steel wire ropes of the steel wheel are positioned inside the base body (namely below the leaf collecting baffle plate). The two baffles have the functions of increasing wind pressure, increasing the suction effect of the new shoots and improving the leaf collecting efficiency, and preventing secondary cutting damage of the rear steel wire rope to the collected new shoots. Preferably, the steel wheel is positioned at 1/3 position outside the base body so as to ensure that the steel wire rope can not be blocked when running at high speed to cut the bud leaves, and the cut bud leaves can fall on the base bottom plate and the leaf collecting baffle plate and cannot fall off. The thickness of the rectangular bottom plate can be 0.3cm, the long side length is 10cm, and the short side length is 8cm. The top of the square picking head is connected to a telescopic header She Fengguan in the leaf collecting device (see fig. 13).
Triangular picking head (see fig. 7-9): the base comprises a regular triangle base body 1-1 with a forward bottom edge, wherein three corners of the base body are respectively provided with a steel wheel 1-2 with a groove connected through a steel wheel shaft, and an annular steel wire rope 1-3 is matched in the groove of the steel wheel; a high-speed motor 1-4 for driving the steel wheel (driving wheel) to rotate is arranged on a steel wheel shaft positioned at the vertex (point A in fig. 1) of the regular triangle base body, and two steel wheels on the bottom side (connecting line of two points B, C in fig. 1) of the regular triangle base body are driven to rotate by an annular steel wire rope (namely, the two steel wheels are respectively positioned at points B and C in fig. 1 and are driven wheels); the specifications of the three steel wheels are preferably: the diameters are all 2cm, the outer diameters are all provided with grooves with the depth of 1mm, the grooves are used for installing and fixing annular high-toughness steel wire ropes 1-3, and the cross section diameter of the annular high-toughness steel wire ropes is preferably 0.3mm. The base body is also provided with fixing piles 1-10 which are used for fixing the picking arms; in order to obtain a more stable fixing effect, 2 fixing piles 1 to 10 are preferably arranged; the fixing pile is provided with a lens forward (i.e. towards the midpoint of BC) positioning and height identifying camera 1-5 (see fig. 1) near the inner side of the base body. A clamping groove is formed in the joint of the base body 1-1 and one of the steel wheel shafts, a lock catch for locking the steel wheel shaft is matched with the clamping groove, and the annular steel wire rope is assembled and disassembled by moving the steel wheel shaft at two ends of the clamping groove; the steel wheel at the point C (figure 8) is firstly moved to the innermost end of the clamping groove, and after the steel wire rope ring 1-3 is installed, the steel wheel is locked at the outermost end of the clamping groove so as to tighten the annular steel wire rope. Wherein the optimal dimensions of the regular triangle base body 1-1 are: thickness 0.3cm and side length 6cm. The regular triangle base body is used as a temporary collecting place of picking leaves and a fixed supporting place of the whole picking head accessory. In order to make the steel wheel shaft have better stability, the lower part and the upper part of the base body 1-1 are respectively provided with a triaxial fixing strip 1-11 for fixing the steel wheel shaft. The top of the triangular picking head is connected to a telescopic header She Fengguan in a leaf header (see fig. 12).
The invention designs a leaf collecting device which mainly comprises a telescopic leaf collecting air pipe 2-1 (caliber 6 cm), a vortex fan 2-2, a collecting air pipe 2-3 and a leaf collecting box 2-5 (the size is 50cm long by 30cm wide by 50cm high), wherein the vortex fan 2-2 is arranged on the pipe wall of the telescopic leaf collecting air pipe 2-1, and an exhaust net 2-4 is arranged at a position, close to the collecting air pipe 2-3, of a collection She Fengguan; the front end of the telescopic leaf collecting air pipe 2-1 is connected with the picking head 1, and the tail end of the telescopic leaf collecting air pipe is fixedly connected with the collecting air pipe 2-3. Negative pressure is formed in the wind collecting cover 1-7 through the vortex fan, so that the picked bud tips are sucked into the telescopic collection She Fengguan from the leaf collecting baffle plate and then enter the leaf collecting box 2-5, wind generated by the vortex fan 2-2 is rapidly discharged from the exhaust net 2-4, wind pressure of a leaf collecting port is not influenced, the risk that new bud tips picked in the leaf collecting box are continuously blown by wind is reduced, and freshness of the bud tips is maintained.
When the intelligent control device is applied to the intelligent tea picking machine, the intelligent control part refers to the prior art, namely, a picking device and a leaf collecting device of the picking machine in the prior art are replaced by the leaf collecting device designed by the intelligent control device. In order to have better matching with the device of the invention, the invention also designs a control device (see figure 10), wherein the control device comprises a migration system 3-1 for realizing the travel of the tea picking machine, and a bearing platform 3-3 is arranged above the migration system and mainly consists of a piece of steel plate; a balancing device 3-2 for keeping the bearing platform horizontal is arranged between the migration system and the bearing platform; lifting rods 3-7 (used for adjusting the height of the picking device and 80cm in height) are fixedly connected to the bearing platform 3-3; the bearing platform 3-3 is also provided with a power generation device 3-4, a storage battery set 3-5, an image information processing and picking control system 3-6 and a drive-by-wire operator 3-1-5; the lifting rod 3-7 is movably connected with the picking arm 4. The power generation device 3-4 mainly provides power sources for picking devices of the tea picking machine; the storage battery unit 3-5 is mainly used for providing power for equipment such as a high-speed motor 1-4, a camera 1-8, a vortex fan 2-2, an image information processing and picking device control system 3-6, driving motors of four driving wheels 3-1-1 of the tea-leaf picker, a wire control operator 3-1-5 and the like. The image information processing and picking device control system 3-6 mainly comprises a video information processing system, a picking head positioning and height regulating system and a tea picking machine motion direction signal processing system, wherein two modes of manual operation mode and automatic control mode are arranged for positioning and height control of the picking head, the tea picking machine in the manual mode can turn off the camera 1-8 and control the corresponding control motor, and the front and back, left and right and up and down movements of the picking head can be controlled by an operator at will; the position of the picking head under automatic control is controlled by two motors (a bi-directional motor 4-1 and a stepping motor 4-2) in the picking arm 4 that control the horizontal and vertical directions.
Preferably, the above-mentioned migration system 3-1 is made up of front and back two pairs of driving wheels 3-1-1, a track 3-1-2 of left and right, four driving wheel supporting frames 3-1-3, four driving wheel carrying platforms 3-1-4, in order to turn to control and promote the throughput capacity wantonly, the fore-and-aft movement and turning of the tea-leaf picker are controlled by the drive-by-wire manipulator 3-1-5; the balancing device 3-2 is mainly provided with a gyroscopic balance so that the tea picking machine can adapt to picking in a sloping field tea garden.
This patent is the first time with the cutting force that the wire rope formed with high-speed operation in being applied to tealeaves and pluck and replace original blade round trip cutting to the damage of bud leaf has been reduced. The original blade back and forth cutting is replaced by a single-wire cutting and picking mode, and the loss of the picked buds She Sunshang is smaller than that of the blade cutting.
The wind sucking and leaf collecting mode replaces the current air blowing and leaf collecting mode adopted by the tea picking machine, the mode can reduce the accumulation and abrasion among the leaves, simultaneously reduces the wind time of fresh leaves, reduces the impact and friction among the buds and leaves, and is more beneficial to keeping the freshness of the bud tips; meanwhile, wind can be blown out of the air outlet net positioned at the middle section of the leaf collecting pipeline rapidly, and buds enter the leaf collecting box in a free falling mode after losing wind suction force, so that picked buds cannot be continuously blown by the wind, the normal water content of the leaves is maintained, and the freshness of picked raw materials is better.
The position and three-dimensional characteristics of the picked buds and leaves are rapidly judged through the positioning and height identification camera, the heights of the buds and tips are calculated, the heights of the buds and tips are fed back to a picking arm provided with a cutting picking head through an image information processing and picking control system, the tips of the buds and tips of the picked heads are cut and picked after the heights of the picking head are positioned, the buds and tips of the picked tips are complete, and new tips are instantly sucked by an air suction pipe.
Requirements of tea-picking machine on tree crowns and picking adaptation period: the equipment requires that the crowns of the tea garden are preferably horizontal crowns; picking is suitable when the first and second leaves of the new shoots of the picked bud account for 70-80% of the buds on the tree body or the average height of the buds is 4.5-5 cm. By adopting the cutting mode, the incision can be ensured to be smooth, so that the incision can not become red. Meanwhile, the cutting line of the picking head is obviously shorter than that of the conventional blade, so that the picking head is flexible and motorized in cutting and high in selectivity, and the integrity rate of the bud tips is improved. The investigation shows that in Zhejiang area, the bud tip of one bud and one leaf of the main tea variety is about 4cm, and the bud tip height of one bud and two leaves is about 5cm, so that the height of the picking bud tip can be set according to the fresh leaf standard for making tea and the corresponding height of the picked bud tip, and the uniformity and homogeneity of the bud tip are obviously superior to those of the current conventional tea picker. If the height of the bud tips is set to be 4cm, the height of the bud tips can be basically kept at 4cm, so that the uniformity and the homogeneity of famous tea raw materials are ensured, and on the premise of meeting the requirements of crowns, the bud tip integrity rate of picking by using the famous tea picking and collecting device designed by the invention in the proper picking period can be more than 98%, and the bud tip integrity rate of picking by using a common blade type tea picking machine is 35-60%.
Claims (3)
1. The utility model provides a famous and excellent tea is picked album leaf device, including picking the device and rather than fixed connection's album leaf device, its characterized in that: the picking device consists of a picking head (1) and a picking arm (4) fixedly connected with the picking head; the picking head (1) is provided with 1 base body, more than 2 steel wheels (1-2) with grooves and a high-speed motor (1-4) for driving the steel wheels to operate, annular steel wire ropes (1-3) are arranged between adjacent steel wheels, and the steel wheels are driven by the high-speed motor to operate so as to drive the annular steel wire ropes to move at a high speed to cut buds; the picking head (1) is provided with a positioning and height identification camera (1-8); the picking head (1) is a square picking head, and the base body of the picking head is dustpan-shaped and comprises a rectangular bottom plate (1-1-1), left and right side plates (1-1-2), a rear back plate (1-1-3) and an upper cover plate (1-1-4); the middle part of the upper cover plate (1-1-4) is provided with a wind collecting cover (1-7), and the top of the wind collecting cover is fixedly connected with a leaf collecting device; the front end of the bottom plate is provided with a left steel wheel shaft (1-5) and a right steel wheel shaft (1-6) which penetrate through the bottom plate, and the upper end and the lower end of the steel wheel shaft are respectively provided with a fixing strip (1-6) for fixing the steel wheel shaft on the base body; two steel wheel shafts above the bottom plate are respectively provided with a steel wheel (1-2) with a groove in a matching way, wherein one steel wheel shaft is provided with a high-speed motor (1-4) for driving the steel wheel to rotate, the grooves of the two steel wheels are internally provided with an annular steel wire rope (1-3) with the cross section diameter of 0.3mm in a matching way, and the base body (1-1) is also provided with a fixed pile (1-10) for connecting the picking arm (4); a leaf collecting baffle (1-9) is arranged in the cavity of the base body (1-1), the left side and the right side of the leaf collecting baffle are respectively and fixedly connected with the left side plate and the right side plate of the base body, the front end of the leaf collecting baffle is fixedly connected with the front part of the bottom plate, the rear end of the leaf collecting baffle is fixedly connected with the top of the rear back plate, and a leaf collecting air duct is formed between the leaf collecting baffle and the upper cover plate (1-1-4); the two blade collecting baffles (1-9) are provided with a front baffle (1-9-1) positioned between two steel wheels, and a rear baffle (1-9-2) connected with the front baffle through male and female buckles; the front part and the steel wire rope in the front of the steel wheel are positioned at the outer side of the base body, and the rear part and the steel wire rope in the rear of the steel wheel are positioned at the inner side of the base body.
2. The famous tea picking and collecting device according to claim 1, wherein: the leaf collecting device mainly comprises a telescopic collection She Fengguan (2-1), a vortex fan (2-2), a collecting air pipe (2-3) and a leaf collecting box (2-5), wherein the vortex fan (2-2) is arranged on the pipe wall of the telescopic collection She Fengguan (2-1), and an exhaust net (2-4) is arranged at the position, close to the collecting air pipe (2-3), of the collection She Fengguan; the cut buds pass through the telescopic leaf collecting air pipe and the collecting air pipe in sequence and finally fall into the leaf collecting box.
3. The famous tea picking and collecting device according to claim 1, wherein: the picking arm (4) is a telescopic arm, and a bidirectional motor (4-1) and a stepping motor (4-2) which can realize left and right rotation and up and down movement of the telescopic arm are arranged on the picking arm.
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| CN111386855A (en) * | 2020-05-07 | 2020-07-10 | 范雪灵 | Apple picking mechanism, handheld apple picker and apple picking device |
| CN115152426A (en) * | 2022-06-01 | 2022-10-11 | 九江庐山山南凌霄茶叶有限公司 | Mechanical picking device for famous tea and pruning method thereof |
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